version: 66.11
glider: 170
mission: 10
dive: 7
start: 11 6 112 10 35 3
data:
$ID,170
$MISSION,10
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-141892.22
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,061112,102735,2151.053,12026.917,30,1.3,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.3
$GPS2,061112,103436,2150.806,12026.946,17,1.2,18,-3.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,305.0,47583,-15.6,-10.000,-17.73
$D_GRID,790
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-194.6,0.0,0.0,0,106,0.00,0.00,-84.25,0.000,2,0.000,0.000,133,3030,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.51,-194.6,3.0,-2.5,15,152,11.57,1.10,-27.42,0.000,4,0.258,0.096,2937,3692,3564,0,0,0,0,0,0,26.02,26.25,26.56
$GC,321,-0.18,-194.6,64.5,-35.8,40,329,0.35,1.02,0.00,0.000,6,0.180,0.036,3041,3011,3564,0,0,0,0,0,0,26.26,26.46,28.83
$GC,508,-0.39,-194.6,91.5,-5.6,50,514,0.15,2.08,0.00,0.000,4,0.082,0.026,2961,1556,3564,0,0,0,0,0,0,26.53,26.53,28.83
$GC,541,-0.58,-194.6,93.4,-5.9,51,547,0.12,2.35,0.00,0.000,6,0.093,0.054,2890,3050,3564,0,0,0,0,0,0,26.52,26.48,28.83
$GC,736,-0.36,-194.6,141.9,-23.9,61,743,0.30,1.02,0.00,0.000,4,0.172,0.062,2983,3695,3565,0,0,0,0,0,0,26.44,26.55,28.83
$GC,970,-0.57,-194.6,159.1,-4.6,72,976,0.12,0.95,0.00,0.000,6,0.051,0.034,2904,3048,3564,0,0,0,0,0,0,26.65,26.67,28.83
$GC,1165,-0.54,-194.6,185.5,-14.3,82,1171,0.12,1.05,0.00,0.000,4,0.166,0.060,2944,3698,3565,0,0,0,0,0,0,26.58,26.65,28.83
$GC,1399,-0.67,-194.6,208.2,-7.8,93,1404,0.10,0.85,0.00,0.000,6,0.050,0.036,2869,3110,3565,0,0,0,0,0,0,26.72,26.74,28.83
$GC,1593,-0.62,-194.6,230.5,-11.7,103,1599,0.12,0.95,0.00,0.000,4,0.173,0.060,2909,3701,3565,0,0,0,0,0,0,26.63,26.70,28.83
$GC,1826,-0.67,-194.6,253.5,-10.8,114,1832,0.00,0.80,0.00,0.000,6,0.000,0.035,2909,3140,3565,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2140,-0.75,-194.6,292.1,-10.9,130,2146,0.12,0.90,0.00,0.000,4,0.096,0.060,2837,3701,3563,0,0,0,0,0,0,26.80,26.74,28.83
$GC,2373,-0.58,-194.6,337.9,-21.0,141,2378,0.22,0.77,0.00,0.000,6,0.148,0.037,2914,3168,3563,0,0,0,0,0,0,26.66,26.82,28.83
$GC,2686,-0.71,-194.6,357.9,-4.6,157,2693,0.00,2.30,0.00,0.000,4,0.000,0.029,2914,1563,3561,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2760,-0.90,-194.6,361.7,-5.6,160,2766,0.25,2.55,0.00,0.000,6,0.071,0.057,2807,3181,3560,0,0,0,0,0,0,26.79,26.76,28.83
$GC,3074,-0.74,-194.6,423.7,-21.3,176,3079,0.17,0.80,0.00,0.000,4,0.177,0.064,2862,3691,3558,0,0,0,0,0,0,26.68,26.78,28.83
$GC,3307,-0.72,-194.6,459.9,-15.7,187,3312,0.00,0.75,0.00,0.000,6,0.000,0.039,2863,3182,3557,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3619,-0.72,-194.6,503.7,-13.2,203,3624,0.00,0.82,0.00,0.000,4,0.000,0.068,2862,3691,3554,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3850,-0.72,-194.6,532.4,-12.3,214,3856,0.00,0.73,0.00,0.000,6,0.000,0.040,2863,3203,3553,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4165,-0.75,-194.6,568.1,-11.8,230,4170,0.00,0.80,0.00,0.000,4,0.000,0.069,2862,3696,3550,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4396,-0.75,-194.6,596.8,-13.6,241,4401,0.00,0.70,0.00,0.000,6,0.000,0.041,2863,3225,3549,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4730,-0.94,-194.6,625.2,-2.8,253,4737,0.12,0.77,0.00,0.000,4,0.097,0.067,2797,3700,3546,0,0,0,0,0,0,26.84,26.81,28.83
$GC,4966,-1.05,-194.6,627.9,-0.8,260,4971,0.00,0.77,0.00,0.000,6,0.000,0.044,2798,3198,3545,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5281,-1.22,-194.6,631.5,-0.9,271,5286,0.20,0.82,0.00,0.000,4,0.094,0.067,2717,3701,3543,0,0,0,0,0,0,26.80,26.80,28.83
$GC,5514,-1.47,-194.6,633.6,-1.4,278,5520,0.17,0.75,0.00,0.000,6,0.064,0.044,2632,3204,3540,0,0,0,0,0,0,26.83,26.86,28.83
$STATE,5706,end dive,NO_VERTICAL_VELOCITY
$STATE,5706,begin apogee
$GC,5711,-0.12,0.0,634.4,0.0,285,5868,1.10,0.00,150.15,1.187,4,0.052,0.000,3080,3007,2769,0,0,0,0,0,0,26.84,28.83,24.24
$STATE,5870,end apogee,CONTROL_FINISHED_OK
$STATE,5870,begin climb
$GC,5872,0.51,194.6,634.6,0.0,290,6042,0.52,1.23,162.43,1.152,4,0.101,0.068,3274,3695,1975,0,0,0,0,0,0,25.04,25.08,24.18
$GC,6048,0.67,464.8,633.3,0.7,296,6279,0.10,1.12,222.02,1.117,6,0.058,0.037,3340,3005,872,0,0,0,0,0,0,25.08,25.10,24.18
$GC,6597,0.36,464.8,420.8,39.3,322,6603,0.35,2.15,0.00,0.000,4,0.171,0.032,3243,1572,867,0,0,0,0,0,0,26.03,26.17,28.83
$GC,6730,0.42,464.8,398.2,13.2,328,6736,0.00,2.28,0.00,0.000,6,0.000,0.061,3244,2966,866,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7045,0.34,464.8,335.7,18.9,344,7050,0.00,2.10,0.00,0.000,4,0.000,0.035,3255,1574,866,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7102,0.29,464.8,328.0,18.3,346,7110,0.17,2.20,0.00,0.000,6,0.140,0.059,3198,2941,865,0,0,0,0,0,0,26.39,26.44,28.83
$GC,7408,0.33,464.8,287.4,13.0,362,7415,0.00,2.05,0.00,0.000,4,0.000,0.033,3199,1574,867,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7441,0.40,464.8,284.3,13.1,363,7447,0.12,2.17,0.00,0.000,6,0.106,0.059,3250,2934,865,0,0,0,0,0,0,26.54,26.54,28.83
$GC,7755,0.34,464.8,219.8,21.2,379,7761,0.12,1.23,0.00,0.000,4,0.155,0.058,3208,3703,865,0,0,0,0,0,0,26.55,26.61,28.83
$GC,7793,0.28,464.8,215.3,20.7,380,7799,0.00,1.25,0.00,0.000,6,0.000,0.036,3212,2879,865,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7979,0.37,464.8,188.4,12.4,390,7985,0.00,1.35,0.00,0.000,4,0.000,0.063,3212,3705,865,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8063,0.46,464.8,178.3,12.0,394,8070,0.10,1.20,0.00,0.000,6,0.054,0.036,3286,2917,865,0,0,0,0,0,0,26.67,26.70,28.83
$GC,8269,0.39,464.8,142.1,18.2,404,8275,0.15,1.95,0.00,0.000,4,0.151,0.031,3240,1570,865,0,0,0,0,0,0,26.60,26.71,28.83
$GC,8321,0.39,464.8,137.1,14.2,406,8327,0.00,2.12,0.00,0.000,6,0.000,0.057,3240,2913,865,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8516,0.55,514.9,120.2,8.3,416,8564,0.12,1.27,41.45,0.813,4,0.094,0.061,3322,3708,667,0,0,0,0,0,0,26.74,25.99,25.46
$GC,8667,0.44,514.9,93.5,21.3,423,8673,0.20,1.20,0.00,0.000,6,0.118,0.031,3252,2904,666,0,0,0,0,0,0,26.15,26.28,28.83
$GC,8863,0.91,712.2,80.4,3.2,433,8916,0.40,1.35,44.72,0.764,4,0.103,0.061,3398,3699,459,0,0,0,0,0,0,26.35,25.74,25.23
$GC,8973,1.08,772.6,72.3,7.9,438,8979,0.12,1.12,0.00,0.000,6,0.050,0.033,3477,2960,459,0,0,0,0,0,0,26.01,26.03,28.83
$STATE,9146,end climb,SURFACE_DEPTH_REACHED
$STATE,9146,begin surface coast
$FINISH,1.2,1.022125
$STATE,9151,end surface coast,CONTROL_FINISHED_OK
$STATE,9151,begin surface
$SM_CCo,9229,0.00,0.000,0,0,458,566.89
$SM_GC,2.00,8.90,0.10,0.00,0.063,0.109,0.000,140,3016,458,-9.25,-0.62,566.89,0,0,0,0,0,0,26.20,26.29,28.83
$IRIDIUM_FIX,2143.45,12025.58,061112,060636
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.67
$INTERNAL_PRESSURE,9.48828
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,4017440
$24V_AH,24.2,1.811
$10V_AH,9.8,0.750
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.750,56.150,620.775,0.000,0.000,0.000,0.000,265.000,0.000,0.000,19.028,1827.858,5154.749,638.382,1873.104,155.952,0.000,1786.967,0.000,1509.971,0.000,0.545,0.000
$DEVICE_MAMPS,257.805,109.395,1187.280,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9172.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.937,0.000,0.000,0.000
$MEM,324348
$DATA_FILE_SIZE,16792,458
$CAP_FILE_SIZE,131144,0
$CFSIZE,260034560,250232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.326,181.1,1
$GPS,061112,131005,2150.173,12026.520,37,1.2,37,-3.1